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Fairly new to this so let me know if there's a better way of doing things!

I'm attempting dynamic collision avoidance with a Kinect V1 and the ur5 moveit package on ROS kinetic. The PC is running Ubuntu 16.04 and i have the following packages installed:

  • camera_pose
  • octomap_mapping
  • octomap_ros
  • OpenNI
  • openni_camera
  • perception_pcl
  • robotiq
  • trac_ik
  • universal_robot
  • ur_modern_driver
  • ur_scripts

I've been following the ROS tutorial on perception/configuration (link below) in an effort to have moveit process the point cloud into an octomap and display the occupied voxels: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/perception_configuration/perception_configuration_tutorial.html

And am also aware of this other thread which is extremely similar, however i wasn't able to achieve a working result using just the information here: https://answers.ros.org/question/195770/moveit-collision-avoidance-with-point-cloud-2/

I have Openni working so can visualise the pointcloud2 okay in moveit and have completed all the steps in the above, including altering the sensor_manager.launch.yaml files. However when i echo the planning scene topic, /move_group/monitored_planning_scene, i am getting nothing. This is despite trying a number of static transform publishers to arrange everything with respect to /world (I would post images of my tf trees but i dont have enough karma).

The moveit! config files used can be found at: (https://github.com/nis-ur/ur_kinect_meta/tree/master)

As requested, the terminal log when i launch ur5 planning:

nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
... logging to /home/nvidia/.ros/log/6ae42ada-891a-11e8-b1d3-62c9d7ce9d78/roslaunch-tegra-ubuntu-7323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:38298/

SUMMARY
========

PARAMETERS
 * /move_group/Manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/Manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/Manipulator/projection_evaluator: joints(shoulder_p...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/Manipulator/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/Manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/Manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/Manipulator/kinematics_solver_timeout: 0.02
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [7340]
[ INFO] [1531764717.466433731, 2577.601000000]: Loading robot model 'ur5'...
[ INFO] [1531764717.466607399, 2577.601000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1531764717.654506310, 2577.774000000]: IK Using joint shoulder_link -3.14159 3.14159
[ INFO] [1531764717.654610985, 2577.774000000]: IK Using joint upper_arm_link -3.14159 3.14159
[ INFO] [1531764717.654696683, 2577.774000000]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1531764717.654748268, 2577.774000000]: IK Using joint wrist_1_link -3.14159 3.14159
[ INFO] [1531764717.654796269, 2577.774000000]: IK Using joint wrist_2_link -3.14159 3.14159
[ INFO] [1531764717.655033971, 2577.774000000]: IK Using joint wrist_3_link -3.14159 3.14159
[ INFO] [1531764717.655241527, 2577.774000000]: Looking in common namespaces for param name: Manipulator/position_only_ik
[ INFO] [1531764717.663599481, 2577.783000000]: Looking in common namespaces for param name: Manipulator/solve_type
[ INFO] [1531764717.677380792, 2577.793000000]: Using solve type Speed
[ INFO] [1531764717.792332030, 2577.904000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1531764717.815433269, 2577.926000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1531764717.815535864, 2577.926000000]: Starting scene monitor
[ INFO] [1531764717.842420294, 2577.950000000]: Listening to '/planning_scene'
[ INFO] [1531764717.842503880, 2577.950000000]: Starting world geometry monitor
[ INFO] [1531764717.880690077, 2577.984000000]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1531764717.900768782, 2578.004000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1531764717.949457813, 2578.046000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1531764718.070617004, 2578.159000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1531764718.225934172, 2578.305000000]: Using planning interface 'OMPL'
[ INFO] [1531764718.233827635, 2578.312000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1531764718.236469264, 2578.312000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1531764718.240372426, 2578.314000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1531764718.245274780, 2578.321000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1531764718.247395917, 2578.323000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1531764718.250054283, 2578.324000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1531764718.250233007, 2578.324000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1531764718.250286256, 2578.324000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1531764718.250321329, 2578.324000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1531764718.250356626, 2578.324000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1531764718.250390835, 2578.324000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1531764718.573364143, 2578.643000000]: Added FollowJointTrajectory controller for 
[ INFO] [1531764718.573623829, 2578.643000000]: Returned 1 controllers in list
[ INFO] [1531764718.645301682, 2578.708000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1531764719.089064576, 2579.103000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1531764719.089207267, 2579.103000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1531764719.089261380, 2579.103000000]: MoveGroup context initialization complete

You can start planning now!

And the terminal log when i launch rviz:

nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
... logging to /home/nvidia/.ros/log/6ae42ada-891a-11e8-b1d3-62c9d7ce9d78/roslaunch-tegra-ubuntu-7756.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:41009/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /rviz_tegra_ubuntu_7756_8226792173317731725/Manipulator/kinematics_solver: trac_ik_kinematic...
 * /rviz_tegra_ubuntu_7756_8226792173317731725/Manipulator/kinematics_solver_attempts: 3
 * /rviz_tegra_ubuntu_7756_8226792173317731725/Manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_tegra_ubuntu_7756_8226792173317731725/Manipulator/kinematics_solver_timeout: 0.02

NODES
  /
    rviz_tegra_ubuntu_7756_8226792173317731725 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_tegra_ubuntu_7756_8226792173317731725-1]: started with pid [7773]
[ INFO] [1531764724.046184513]: rviz version 1.12.15
[ INFO] [1531764724.046849264]: compiled against Qt version 5.5.1
[ INFO] [1531764724.046903794]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1531764725.594316505, 2585.289000000]: Stereo is NOT SUPPORTED
[ INFO] [1531764725.594873510, 2585.289000000]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1531764729.463324832, 2589.050000000]: Loading robot model 'ur5'...
[ INFO] [1531764729.463485604, 2589.050000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1531764729.869281539, 2589.348000000]: IK Using joint shoulder_link -3.14159 3.14159
[ INFO] [1531764729.869382341, 2589.348000000]: IK Using joint upper_arm_link -3.14159 3.14159
[ INFO] [1531764729.869433350, 2589.348000000]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1531764729.869472199, 2589.348000000]: IK Using joint wrist_1_link -3.14159 3.14159
[ INFO] [1531764729.869521704, 2589.348000000]: IK Using joint wrist_2_link -3.14159 3.14159
[ INFO] [1531764729.869569513, 2589.348000000]: IK Using joint wrist_3_link -3.14159 3.14159
[ INFO] [1531764729.869630859, 2589.348000000]: Looking in common namespaces for param name: Manipulator/position_only_ik
[ INFO] [1531764729.903077463, 2589.363000000]: Looking in common namespaces for param name: Manipulator/solve_type
[ INFO] [1531764729.925311486, 2589.383000000]: Using solve type Speed
[ INFO] [1531764730.284061271, 2589.652000000]: Starting scene monitor
[ INFO] [1531764730.314902407, 2589.675000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1531764731.517646471, 2590.737000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1531764731.529964007, 2590.747000000]: Constructing new MoveGroup connection for group 'Manipulator' in namespace ''
[ INFO] [1531764732.625346157, 2591.687000000]: Ready to take commands for planning group Manipulator.
[ INFO] [1531764732.625532018, 2591.687000000]: Looking around: no
[ INFO] [1531764732.625612052, 2591.687000000]: Replanning: no

Originally posted by nisur on ROS Answers with karma: 28 on 2018-06-22

Post score: 0

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1 Answer 1

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Rosanswers logo

Hi, I finally managed to get this fixed, thanks a lot @Thadeu Brito and @aaditya_saraiya for your input. The problem turned out to be something to do with my tf static transform publisher.

Running the transform from the shell, i.e. something like...

rosrun tf static_transform_publisher 1.0 0.0 0.0 0.0 0.0 0.0 1.0 world camera_frame 100

appeared to work fine when i checked rosrun tf view_frames. For some reason though, it didn't communicate properly with the octomap generator regardless of the transform parameters, frame parameters or the 'rate' parameter (100 in the above code). Echoing the move_group/monitored_planning_scene node proved that no info was being published.

As a last resort bit of trial and error I had a go at publishing the transform as part of the launch file, more like...

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 world camera_frame 100" />
</launch>

and this worked just fine. Not sure why this might be as both ways of doing it look identical? Anyway, this ticket is resolved. Thanks again,

Nick


Originally posted by nisur with karma: 28 on 2018-08-05

This answer was ACCEPTED on the original site

Post score: 0

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